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geofence fix code style

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This commit is contained in:
Daniel Agar
2016-11-19 15:16:00 +01:00
committed by Lorenz Meier
parent 6f10f8de9a
commit c701085ed4
1 changed files with 26 additions and 26 deletions
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src/modules/navigator/geofence.cpp
+26 -26
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@@ -131,40 +131,40 @@ bool Geofence::inside(const struct mission_item_s &mission_item)
bool Geofence::inside(double lat, double lon, float altitude)
{
float max_horizontal_distance = _param_max_hor_distance.get();
float max_vertical_distance = _param_max_ver_distance.get();
float max_horizontal_distance = _param_max_hor_distance.get();
float max_vertical_distance = _param_max_ver_distance.get();
if (max_horizontal_distance > 1 || max_vertical_distance > 1) {
if (_home_pos_set) {
float dist_xy = -1.0f;
float dist_z = -1.0f;
get_distance_to_point_global_wgs84(lat, lon, altitude,
_home_pos.lat, _home_pos.lon, _home_pos.alt,
&dist_xy, &dist_z);
if (max_horizontal_distance > 1 || max_vertical_distance > 1) {
if (_home_pos_set) {
float dist_xy = -1.0f;
float dist_z = -1.0f;
get_distance_to_point_global_wgs84(lat, lon, altitude,
_home_pos.lat, _home_pos.lon, _home_pos.alt,
&dist_xy, &dist_z);
if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) {
if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Geofence exceeded max vertical distance by %.1f m",
(double)(dist_z - max_vertical_distance));
_last_vertical_range_warning = hrt_absolute_time();
}
return false;
if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) {
if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Geofence exceeded max vertical distance by %.1f m",
(double)(dist_z - max_vertical_distance));
_last_vertical_range_warning = hrt_absolute_time();
}
if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) {
if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Geofence exceeded max horizontal distance by %.1f m",
(double)(dist_xy - max_horizontal_distance));
_last_horizontal_range_warning = hrt_absolute_time();
}
return false;
}
return false;
if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) {
if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Geofence exceeded max horizontal distance by %.1f m",
(double)(dist_xy - max_horizontal_distance));
_last_horizontal_range_warning = hrt_absolute_time();
}
return false;
}
}
}
bool inside_fence = inside_polygon(lat, lon, altitude);